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diego_ar posted a topic in LEGO Technic and Model TeamHello everyone: I am glad to share this project, the mining excavator, based on Cat 6090. Phisycal Configuration: The Lego Cat6090 is a motorized digger on tracked wheels, 2 XL motors provided enough torque. On the track frame is placed the main structure, and a heavy duty turntable allows good rotations, without fricctions. The turntable is rotated by means of 1 XL motor. The main structure contains: the XL motor for turntable, the air compressor, 4 servos for pneumatic valves and the controller. The design is ultra compact in order to meet the requierement of size/scale. The tracked whell is ultra rigid structure, designed to resist extreme load. The air compressor has 4 XL motor and 2 pneumatic pumps, in order to provide a constant air flow and high pressure, both pumps are de-phased 180° in order to reduce vibrations. 4 PF-servos open/close 2 way air valves, to command all pneumatic actuators. The boom has 2 large pneumatic actuator. Due to heavy height of the boom, 4 spring supply extra force during the elevation. 2 large pneumatics actuators push/pull the arm, those actuators are placed below the arm. 2 large penumatics actuators dedicate to rotate the bucket. 1 medium pneumatic actuator, open/close the bucket. Electrical configuration: Three 18650 batteries provide an average of 11.1 V, the compressor are suplied with 11.1 V, and the servos, lights and turntable motor are suplied with 9V. A BMS (Battery Managment System) manages the charge and the discharge durgin the operation. The tracked frame is steering by the use of 11.1 V, and as well is manage by the use of a BMS. On Board System (OBS): The name given to the controller. There are two systems, one for the main structure, and the secund is used to move the tracked well. The main controller, is a server TCP/IP protocol. The controller has a ESP8266 microcontroller with a TCP/IP stack, this controller is able to be programmed in arduino languaje (also micropython) - Teh ESP8266 is used as a sever, Motor driver: used to control the compressor The 4 PF servos are controlled by means of digital outputs, and the lights. ld293d, this is a H-bridge used to control the turntable motor. The second controller, is a ESP8266 as a client, and controls the speed of the tracks. Also, it has a BMS in order to regulates the charges/discharge of the batteries Accessories: 1) Josyticks: Two joysticks, with 4 dof (degrees of freedom) each of one plus a on/off button, are connected to the server module. 2) App: An application developmented under Android studio is used to visualizate the air pressure and electrical current, this app is WIP (work in progress). Conectivity: The comunication used is socket TCP/IP- Main features: maximun pressure reached: 52 psi (358 Kpa) Voltage bus: 11.1 V Compressor electrical consuption: 23 W Weight: 6 kg Length: 30 cm width: 20 cm height: 30 cm Here some pictures, during the construction and commissioning Note: my apologies for my primitive english
Scroll down for video You all will know that new XL linear actuators are on sale for some time now. To my knowledge, there is no video or result that directly measures the exact weight that they can push away. So here we are, this is my measurement setup. It is a basically a Technic tower that can support more than 15 kgs in either Z direction. Should be plenty. A weighing scale of 5 kgs is below the pushing rods. As we speak, I'm doing the measurements. The photo below is very fresh.. I'm going to measure five types of actuators: The 'old' linear actuator sold before the 8043 fiasco. The improved linear actuator that was sold after 8043. The new XL linear actuator The large pneumatic actuator SURPRISE This is the first time my homebuilt Laser Sintered 3D printed linear actuator will be shown to the public. It features an inboard electric motor and all-steel inner workings. Should be more reliable and MUCH stronger than the old actuator. But will it be stronger than the XL actuator? Let's see. My question to you: can you think of more measurements to do on this setup? Because I have the setup now built and ready, any comparison will be best if it's measured with this exact setup. I'm open to suggestions!
Hi everyone, I searched a lot and was surprised nobody has addressed the issue of extending and retracting the actuators in Lego Digital Designer OR I was unable to find it - be it through searching here, google, youtube or any other means. So I discovered a little trick to do this. If it already exists here in these forums, then I'm really sorry and please accept my apologies. The trick involves exporting the file to *.lxfml and editing the coordinates of sub-components of actuators manually with text editor and is easily doable by anyone without the need for expertise or special tools etc. Below is my video of this:
Hello! I made some experiments nowadays, also this string operated actuator for heavy equipments: http://www.brickshelf.com/cgi-bin/gallery.cgi?f=534220 (this last picture is from another model, just shows the working method) The working pricniple is very simple and effective: the winch in the end of the housing (yellow) pulls out the liftarm construction (gray) with string(s). This isn't realistic, but think about TLC's actuators, they aren't also. I made it for heavy equipment, like crane booms, excavator arms, etc. For raising a big boom, pneumatic has no chance, Lego actuators also. There are two ways after that: custom actuators/custom pieces, or built actuators. I think string is "legal", it can be made also with Lego strings (but would be expensive), so it's 100% legal. The extension is 15 stud (can be a few studs more, but that would be in the "limit zone"). With longer construction it can be even 30 studs (more would cause deflection). I wanted to make it as small as possible, it's 3,8 studs wide, 3 tall. The length can be chosen freely (as long as you want - you just need longer liftarms, or more). The final version in my projects will have bley thin liftarms instead of these black ones, so it will be looking like a real cylinder from a distance. There is 4 paralell strings in this actuator, and at the beginning of the housing there is a little pulley to decrease friction ( http://www.brickshelf.com/gallery/mbmc137/Ideas-Technologies/Extrem-Cylinder/003.jpg ). Strings are very good for smart techniques, this actautor doesn't requires much additional space for motorizing, just make a gearing with a motor after the winch's axle. Of course, you can change the strength of the actuator with stronger/weaker strings. The one in the pictures can create about 100 N of pushing force. This is a bit more than a 10 kg vertical lifting. The backward movement is done by the gravity, but it's not impossible to modify it to pull back the inner part (you can add another string, like 8421's boom extension works). What do you think?